Microstrain7 Initial Support #25579

Ryanf55 · 2023-11-18T23:15:47Z

Purpose

This forms initial support for the MicroStrain 3DM-GQ7 EAHRS system. It's "working on the bench". I've updated this to also include the simulator.

What's different from MicroStrain5

Dual GNSS antenna support with new messages available on the GQ7
Minimal refactor to improve shared code between MicroStrain5 and MicroStrain7
Improved state machine for health reporting based on device health rather than message frequency
The chosen set of messages are endorsed by MicroStrain

Manual Testing

So far, bench testing the driver against hardware. There are a few more things I'd like to do (in follow up PR) prior to flight testing. It would be nice to get this minimum version in to avoid major merge conflicts.

Automated Testing

Autotest is included.

Set up

Use MicroStrain Sensor Connect and configure these data rates and channels manually:

Demo Logs with bench hardware

$ ./Tools/autotest/sim_vehicle.py -v Plane -A "--serial3=uart:/dev/3dm-gq7" -DG
...

BUILD SUMMARY
Build directory: /home/ryan/Dev/ros2_ws/src/ardupilot/build/sitl
Target         Text (B)  Data (B)  BSS (B)  Total Flash Used (B)  Free Flash (B)  External Flash Used (B)
---------------------------------------------------------------------------------------------------------
bin/arduplane   4954805    187960   213160               5142765  Not Applicable  Not Applicable         

Build commands will be stored in build/sitl/compile_commands.json
'build' finished successfully (3.573s)
SIM_VEHICLE: Using defaults from (Tools/autotest/models/plane.parm)
SIM_VEHICLE: Run ArduPlane (gdb)
SIM_VEHICLE: "/home/ryan/Dev/ros2_ws/src/ardupilot/Tools/autotest/run_in_terminal_window.sh" "ArduPlane (gdb)" "gdb" "-x" "/tmp/tmpwnj65h0c" "--args" "/home/ryan/Dev/ros2_ws/src/ardupilot/build/sitl/bin/arduplane" "-S" "--model" "plane" "--speedup" "1" "--slave" "0" "--serial3=uart:/dev/3dm-gq7" "--defaults" "Tools/autotest/models/plane.parm" "--sim-address=127.0.0.1" "-I0"
SIM_VEHICLE: Run MavProxy
SIM_VEHICLE: "mavproxy.py" "--out" "127.0.0.1:14550" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501"
RiTW: Starting ArduPlane (gdb) : gdb -x /tmp/tmpwnj65h0c --args /home/ryan/Dev/ros2_ws/src/ardupilot/build/sitl/bin/arduplane -S --model plane --speedup 1 --slave 0 --serial3=uart:/dev/3dm-gq7 --defaults Tools/autotest/models/plane.parm --sim-address=127.0.0.1 -I0
Connect tcp:127.0.0.1:5760 source_system=255
[Errno 111] Connection refused sleeping
Log Directory: 
Telemetry log: mav.tlog
Waiting for heartbeat from tcp:127.0.0.1:5760
MAV> Detected vehicle 1:1 on link 0
online system 1
INITIALISING> Mode INITIALISING
AP: ArduPlane V4.5.0-dev (30b66ecb)
AP: 1335a96389cc4630a4ec6b8290ea9cdc
Received 1388 parameters (ftp)
Saved 1388 parameters to mav.parm
AP: Initialising ArduPilot
AP_Logger_File: buffer size=204800
AP: MicroStrain7 ExternalAHRS initialised
AP: Ground start
AP: Skipping INS calibration
AP: Calibrating barometer
MANUAL> Mode MANUAL
AP: Barometer 1 calibration complete
AP: Barometer 2 calibration complete
AP: Barometer 3 calibration complete
AP: Airspeed 1 calibration started
AP: ArduPilot Ready
AP: AHRS: DCM active
AP: GPS 1: specified as ExternalAHRS
AP: Field Elevation Set: 1681m
Flight battery warning
GPS lock at 0 meters
AP: EKF2 IMU0 MAG0 initial yaw alignment complete
AP: EKF2 IMU1 MAG0 initial yaw alignment complete
Received 1394 parameters
Saved 1388 parameters to mav.parm
AP: EKF3 IMU0 initialised
AP: EKF3 IMU1 initialised
AP: Airspeed 1 calibrated
AP: EKF3 IMU0 tilt alignment complete
AP: EKF3 IMU1 tilt alignment complete
AP: EKF3 IMU0 MAG0 initial yaw alignment complete
AP: EKF3 IMU1 MAG0 initial yaw alignment complete
AP: EKF2 IMU0 tilt alignment complete
AP: EKF2 IMU1 tilt alignment complete
AP: EKF2 IMU0 origin set
AP: EKF2 IMU1 origin set
AP: EKF3 IMU0 origin set
AP: EKF3 IMU1 origin set
AP: EKF3 IMU0 is using GPS
AP: EKF3 IMU1 is using GPS
AP: PreArm: Gyros not calibrated
AP: EKF2 IMU0 is using GPS
AP: EKF2 IMU1 is using GPS
AP: PreArm: Gyros not calibrated
Flight battery 100 percent
AP: PreArm: Gyros not calibrated
AP: PreArm: Gyros not calibrated
Flight battery 100 percent

libraries/AP_ExternalAHRS/AP_ExternalAHRS.h

Ryanf55 · 2023-11-22T03:06:55Z

Craig can't fly this for a while, so I propose a merge to master without flight test. I've done sufficient bench testing and have more improvements. Can we get this in so I don't have to worry about conflicts?

Hwurzburg

what happens if you select both Microstrain 5 AND 7 as build options?
do we need extract_features updates?
I assume the version is auto-detected because there is only one type for Microstrains

Ryanf55 · 2023-11-22T21:14:52Z

libraries/AP_ExternalAHRS/AP_ExternalAHRS_MicroStrain7.cpp

+
+    {
+        AP_ExternalAHRS::ins_data_message_t ins {
+accel: imu_data.accel,


Any idea why astyle is ruining the indent here? This is what astyle is automatically doing with the code.

Ryanf55 · 2023-11-22T21:18:24Z

what happens if you select both Microstrain 5 AND 7 as build options? do we need extract_features updates? I assume the version is auto-detected because there is only one type for Microstrains

Not sure. In SITL they are both active.

For extract_features, there is no precedent to expose microstrain 5 series driver. Should I add them both?

Hwurzburg · 2023-11-22T22:06:42Z

for every build option, the feature must be in extract features so as to list the feature or not

Ryanf55 · 2023-11-22T22:25:51Z

for every build option, the feature must be in extract features so as to list the feature or not

Awesome Henry, thanks for the clarification. I'll add it in.

Ryanf55 · 2023-11-25T17:26:44Z

extract_features

It's already handled in extract_features.py. Since I followed the format in build_options.py for the 5-series, it will show up automatically.

ardupilot/Tools/scripts/build_options.py

Lines 33 to 35 in ea23772

    
           Feature('AHRS', 'AHRS_EXT', 'HAL_EXTERNAL_AHRS_ENABLED', 'Enable External AHRS', 0, None), 
        
           Feature('AHRS', 'AHRS_EXT_MICROSTRAIN5', 'AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED', 'Enable MICROSTRAIN 5-series External AHRS', 0, "AHRS_EXT"),  # noqa: E501 
        
           Feature('AHRS', 'AHRS_EXT_VECTORNAV', 'AP_EXTERNAL_AHRS_VECTORNAV_ENABLED', 'Enable VectorNav External AHRS', 0, "AHRS_EXT"),  # noqa

ardupilot/Tools/scripts/extract_features.py

Line 73 in ea23772

('AP_EXTERNAL_AHRS_{type}_ENABLED', r'AP_ExternalAHRS_{type}::healthy\b',),

* Implement filter state without relying on GPS * Implement health and initialization check based on filter state * Fix pre-arm checks missing version * Add version specifics to microstrain 5 log msgs * Add utilities to microstrain packet to remove magic number array access Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

* The old descriptor is deprecated Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

rmackay9 · 2024-04-27T02:20:25Z

This had the 4.5 backport label but was not in the 4.5 backports project. We need to keep these two methods consistent. I think we should use the 4.5 project to indicate the PR should be backported.. not the label.

rmackay9 · 2024-04-27T02:58:08Z

OK, I see what's happened. The "For-4.5" label was added before we branched for 4.5. Adding this label is not necessary in this situation because everything that is included in master is included when we branch.

Ryanf55 · 2024-04-27T16:11:02Z

OK, I see what's happened. The "For-4.5" label was added before we branched for 4.5. Adding this label is not necessary in this situation because everything that is included in master is included when we branch.

Thanks for the details, sorry for the confusion.

Ryanf55 added Enhancement EKF GPS Driver For-4.5 Planned for 4.5 release labels Nov 18, 2023

Ryanf55 requested a review from CraigElder November 18, 2023 23:15

Ryanf55 added the DevCallTopic label Nov 20, 2023

Ryanf55 force-pushed the microstrain7 branch 3 times, most recently from e0110b7 to 9e8ee61 Compare November 21, 2023 00:49

Ryanf55 commented Nov 21, 2023

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libraries/AP_ExternalAHRS/AP_ExternalAHRS.h Outdated Show resolved Hide resolved

CraigElder removed the DevCallTopic label Nov 21, 2023

This was referenced Nov 21, 2023

SIM_MicroStrain: Support dual 5-series and 7-series support #25586

Closed

EARHS_MicroStrain7: Use valid flags for all data #25587

Open

Ryanf55 added the FlightTest PRs to flight test (please) label Nov 21, 2023

Ryanf55 marked this pull request as ready for review November 22, 2023 03:00

Ryanf55 removed the FlightTest PRs to flight test (please) label Nov 22, 2023

Ryanf55 mentioned this pull request Nov 22, 2023

MicroStrain7 Simulator #25598

Draft

Hwurzburg reviewed Nov 22, 2023

View reviewed changes

Ryanf55 commented Nov 22, 2023

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Ryanf55 mentioned this pull request Nov 22, 2023

DevEnv: Finish out the astylerc settings #19009

Open

Ryanf55 force-pushed the microstrain7 branch from e1a5abe to 918ed97 Compare November 23, 2023 04:47

Ryanf55 force-pushed the microstrain7 branch from 509001d to 26f8202 Compare December 4, 2023 05:28

Ryanf55 added the DevCallTopic label Dec 4, 2023

Ryanf55 added 4 commits December 3, 2023 22:32

Tools: Add MicroStrain7 support

31d0f1e

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

SITL: Switch to using GPS Timestamp for 5 series driver

dc0e098

* The old descriptor is deprecated Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

AP_HAL_SITL: Add MicroStrain7 support to SITL

b604e73

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

AP_HAL: Add MicroStrain7 support

170dbff

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>

Ryanf55 force-pushed the microstrain7 branch from 26f8202 to 170dbff Compare December 4, 2023 05:32

tridge approved these changes Dec 5, 2023

View reviewed changes

tridge merged commit fadedbb into ArduPilot:master Dec 5, 2023
87 checks passed

Ryanf55 removed the DevCallTopic label Dec 5, 2023

Ryanf55 deleted the microstrain7 branch April 27, 2024 16:11

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Microstrain7 Initial Support #25579

Microstrain7 Initial Support #25579

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Microstrain7 Initial Support #25579

Microstrain7 Initial Support #25579

Conversation

Ryanf55 commented Nov 18, 2023 • edited Loading

Purpose

What's different from MicroStrain5

Manual Testing

Automated Testing

Set up

Demo Logs with bench hardware

Ryanf55 commented Nov 22, 2023 • edited Loading

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Ryanf55 Nov 22, 2023

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Ryanf55 commented Nov 25, 2023

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